Submarine Pipeline Leakage Detection Module Based On Multibeam Sonar

Submarine pipelines are laid in the marine environment,and the seabed environment is worse than the terrestrial environment.The internal corrosion of the pipeline,the effect of wave flow outside the pipe,seabed movement,and external impact will all cause damage.There have been a number of accidents in the history of the seabed pipeline that have caused serious damage to the ecological environment and caused huge economic losses.In the case of leakage of submarine natural gas pipelines,the earliest use of single-beam echo sounders was used to detect the leakage of gases on the seabed.Later,due to the rapid development of sonar technology,sonar hardware,software design capabilities,and computer processing capabilities have improved.Multibeam depth sounding makes it possible to detect leaks in pipes.The multi-beam depth sounding sonar has a wider coverage,its water column imaging data has complete beam information from the transmitting transducer to the seabed,and can provide a 3D spatial relationship,so the multi-beam water column imaging data can be used to judge the target in the water column the shape and size of the object.In this paper,the water column imaging data of multi-beam depth sonar is used to study the leakage detection of natural gas pipelines.Designed and implemented a leak detection module for leaking seabed gas.The software part of this module is mainly the leak detection algorithm,and the hardware part is the PC104 mainboard equipped with VxWorks embedded operating system.This paper first analyzes the data structure of water imaging data of multi-beam depth sonar,and then studies the leakage detection algorithm.The main contents include the use of image filtering algorithm,morphological processing algorithm,and bottom detection algorithm to preprocess the water column imaging data.By using the maximum entropy segmentation algorithm to obtain the suspected area of the leaked gas,the Hough transform method is used to analyze the rising form of the leaked gas to determine whether there is a pipe leak.Finally,the process of porting the detection algorithm to the PC104 motherboard with VxWorks embedded operating system is introduced.The module adopts the multi-task programming method,designs the data receiving module,the data processing module and the examination result transmission module,realizes the process from receiving the data to completing the detection,and then lays the foundation for the AUV to carry on the inspection to the natural gas pipeline.